基于无气味卡尔曼滤波的自主飞行器视觉辅助导航

Q2 Mathematics

Indonesian Journal of Electrical Engineering and Computer Science Pub Date : 2013-02-13 DOI:10.11591/TELKOMNIKA.V11I2.2250

Junwei Yu

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引用次数: 6

摘要

介绍了一种用于自主飞行器的视觉辅助导航系统。用固定在飞机上的摄像机对已知场景进行视觉导航。通过在捕获的图像中检测到的相应控制点来估计飞机的位置和姿态。根据控制点的显著性选择控制点，并基于傅里叶-梅林变换在序列图像中进行跟踪。基于Matlab/Simulink建立了飞机动力学与视觉辅助导航系统的仿真模型。采用无气味卡尔曼滤波融合视觉系统和惯性导航系统提供的飞机状态信息。仿真结果表明，基于视觉的导航系统在精度和可靠性方面都取得了令人满意的效果。DOI: http://dx.doi.org/10.11591/telkomnika.v11i2.2250全文:PDF

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Vision-aided Navigation for Autonomous Aircraft Based on Unscented Kalman Filter

A vision-aided navigation system for autonomous aircraft is described in this paper. The vision navigation of the aircraft to the known scence is performed with a camera fixed on the aircraft. The location and pose of the aircraft are estimated with the corresponding control points which can be detected in the images captured. The control points are selected according their saliency and are tracked in sequential images based on Fourier-Melline transform. The simulation model of the aircraft dynamics and vision-aided navigation system based on Matlab/Simulink is built.The unscented Kalman filter is used to fuse the aircraft state information provided by the vision system and the inertial navigation system. Simulation results show that the vision-based navigation system provides satisfactory results of both accuracy and reliability. DOI: http://dx.doi.org/10.11591/telkomnika.v11i2.2250 Full Text: PDF

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来源期刊

Indonesian Journal of Electrical Engineering and Computer Science Mathematics-Control and Optimization

CiteScore

2.90

自引率

0.00%

发文量

782

期刊介绍： The aim of Indonesian Journal of Electrical Engineering and Computer Science (formerly TELKOMNIKA Indonesian Journal of Electrical Engineering) is to publish high-quality articles dedicated to all aspects of the latest outstanding developments in the field of electrical engineering. Its scope encompasses the applications of Telecommunication and Information Technology, Applied Computing and Computer, Instrumentation and Control, Electrical (Power), Electronics Engineering and Informatics which covers, but not limited to, the following scope: Signal Processing[...] Electronics[...] Electrical[...] Telecommunication[...] Instrumentation & Control[...] Computing and Informatics[...]